Abstract
In this paper, a 5 DOF (3 translations and 2 rotations) parallel mechanism D-8 is proposed. D-8 is an extension of DELTA-4 mechanism, which is a translational 3 DOF redundant parallel mechanism, proposed in our past study. The most advantageous benefit of DELTA-4 is a good working area distribution at the front of its structure. In D-8 structure, an end-effector bar is held by a pair of DELTA-4 mechanism which is located in face-to-face. D-8 mechanism has an advantage on its working area comparing conventional haptic devices, which have multiple translational and rotational motions with parallel mechanism. A prototype implementation of D-8 as a pen type master manipulator for surgical application is introduced in this paper.
